JP2021049595A - Wire body support device - Google Patents

Wire body support device Download PDF

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JP2021049595A
JP2021049595A JP2019172960A JP2019172960A JP2021049595A JP 2021049595 A JP2021049595 A JP 2021049595A JP 2019172960 A JP2019172960 A JP 2019172960A JP 2019172960 A JP2019172960 A JP 2019172960A JP 2021049595 A JP2021049595 A JP 2021049595A
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Prior art keywords
striatum
support device
wire body
support
link members
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JP2019172960A
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JP7339095B2 (en
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建太 糸数
Kenta Itokazu
建太 糸数
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Fanuc Corp
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Fanuc Corp
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Priority to JP2019172960A priority Critical patent/JP7339095B2/en
Priority to US16/998,968 priority patent/US11639759B2/en
Priority to DE102020123837.1A priority patent/DE102020123837A1/en
Priority to CN202010977560.8A priority patent/CN112636285A/en
Publication of JP2021049595A publication Critical patent/JP2021049595A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L3/00—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets
    • F16L3/01—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets for supporting or guiding the pipes, cables or protective tubing, between relatively movable points, e.g. movable channels
    • F16L3/015—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets for supporting or guiding the pipes, cables or protective tubing, between relatively movable points, e.g. movable channels using articulated- or supple-guiding elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
    • H02G3/30—Installations of cables or lines on walls, floors or ceilings
    • H02G3/32—Installations of cables or lines on walls, floors or ceilings using mounting clamps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L3/00—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets
    • F16L3/08—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets substantially surrounding the pipe, cable or protective tubing
    • F16L3/12—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets substantially surrounding the pipe, cable or protective tubing comprising a member substantially surrounding the pipe, cable or protective tubing
    • F16L3/1207—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets substantially surrounding the pipe, cable or protective tubing comprising a member substantially surrounding the pipe, cable or protective tubing the ends of the member and the fixing elements being placed on both sides of the pipe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L3/00—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets
    • F16L3/22—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets specially adapted for supporting a number of parallel pipes at intervals
    • F16L3/223—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets specially adapted for supporting a number of parallel pipes at intervals each support having one transverse base for supporting the pipes
    • F16L3/2235—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets specially adapted for supporting a number of parallel pipes at intervals each support having one transverse base for supporting the pipes each pipe being supported by a common element fastened to the base
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Supports For Pipes And Cables (AREA)
  • Electric Cable Arrangement Between Relatively Moving Parts (AREA)
  • Clamps And Clips (AREA)

Abstract

To provide a wire body support device which can support a movable wire body while suppressing deterioration thereof, and which is capable of removably supporting a wire body, such as a cable to which a connector is attached at both ends.SOLUTION: A wire body support device 1 supports a movable part of a wire body which is bridged and laid between two link members supported so as to be rotatable about a predetermined axis, wherein the movable part is displaced in accompany with relative rotation of the link members. The wire body support device includes: one or more guide holes 2 which have an inner diameter that is slightly larger than an outer diameter of the wire body, and through which a middle position in the longer direction of the movable part of the wire body is penetrated; and two or more support pieces 3 and 4 which are coupled in a separable manner in a radial direction at a position of the guide hole 2. The wire body support device is fixed to the link members between a fixing position of the wire body to the link members, and the axis.SELECTED DRAWING: Figure 1

Description

本開示は、線条体支持装置に関するものである。 The present disclosure relates to a striatal support device.

４フッ化エチレン製のガイド部材の円筒案内孔内に径方向に隙間をあけて貫通させたケーブルの長さ方向の途中位置を案内および保持させ、ガイド部材をクランプ部材によってロボットの機体に固定するケーブルの処理方法が知られている（例えば、特許文献１参照。）。 4 Guides and holds the intermediate position in the length direction of the cable that is passed through the cylindrical guide hole of the ethylene fluoride guide member with a radial gap, and fixes the guide member to the robot body by the clamp member. A method for processing a cable is known (see, for example, Patent Document 1).

特開平８−１９７４８２号公報Japanese Unexamined Patent Publication No. 8-197482

線条体がケーブルである場合には、通常、両端にコネクタを備えている。コネクタは線条体と比較して外形が大きいので、コネクタが取り付けられた線条体をガイド部材の円筒案内孔内に貫通させることはできない。 If the striatum is a cable, it usually has connectors on both ends. Since the outer shape of the connector is larger than that of the striatum, the striatum to which the connector is attached cannot be penetrated into the cylindrical guide hole of the guide member.

このため、コネクタの取付前にガイド部材を取り付けた、ガイド部材を備える線条体を製造する必要があり、線条体のコストが高くつく。線条体が多数存在する場合および線条体を交換する場合に大幅なコスト高となる。したがって、可動する線条体の劣化を抑制しつつ支持することができるとともに、両端にコネクタを取り付けたケーブル等の線条体を着脱可能に支持することができる線条体支持装置が望まれている。 Therefore, it is necessary to manufacture a striatum provided with a guide member to which the guide member is attached before attaching the connector, and the cost of the striatum is high. If there are many striatum and if the striatum is replaced, the cost will be significantly high. Therefore, a striatum support device capable of supporting a movable striatum while suppressing deterioration and detachably supporting a striatum such as a cable having connectors attached to both ends is desired. There is.

本開示の一態様は、所定の軸線回りに回転可能に支持された２つのリンク部材間に掛け渡して敷設される線条体の、前記リンク部材の相対回転に伴って変位する可動部を支持する線条体支持装置であって、前記線条体の前記可動部の長手方向の途中位置を貫通させ、前記線条体の外径よりも若干大きい内径を有する１以上の案内孔を備えるとともに、該案内孔の位置で径方向に分離可能に結合される２以上の支持片を備え、前記線条体の前記リンク部材への固定位置と、前記軸線との間において、前記リンク部材に固定される線条体支持装置である。 One aspect of the present disclosure supports a movable portion of a striatum laid across two link members rotatably supported around a predetermined axis, which is displaced with relative rotation of the link member. A striatum support device that penetrates an intermediate position in the longitudinal direction of the movable portion of the striatum and is provided with one or more guide holes having an inner diameter slightly larger than the outer diameter of the striatum. , With two or more support pieces separably coupled in the radial direction at the position of the guide hole, fixed to the link member between the fixed position of the striatum to the link member and the axis. It is a striatal support device to be used.

本開示の一実施形態に係る線条体支持装置を示す斜視図である。It is a perspective view which shows the striatum support device which concerns on one Embodiment of this disclosure. 図１の線条体支持装置および固定用の板金を示す分解斜視図である。It is an exploded perspective view which shows the striatum support device of FIG. 1 and the sheet metal for fixing. 図２の線条体支持装置、固定用の板金およびボルトを示す分解縦断面図である。It is an exploded vertical sectional view which shows the striatum support device of FIG. 2, the sheet metal for fixing, and a bolt. 図３の線条体支持装置、板金およびボルトを組み立てた状態を示す縦断面図である。FIG. 3 is a vertical cross-sectional view showing a state in which the striatum support device, sheet metal, and bolt of FIG. 3 are assembled. 図１の線条体支持装置を構成する支持片の案内孔と線条体との関係を示す平面図である。It is a top view which shows the relationship between the guide hole of the support piece which constitutes the striatum support device of FIG. 1 and a striatum. 図１の線条体支持装置によってリンク部材間に敷設される線条体の可動部を支持している状態を示す模式的な縦断面図である。It is a schematic vertical cross-sectional view which shows the state which supports the movable part of the striatum laid between the link members by the striatum support device of FIG. 図１の線条体支持装置の変形例を示す斜視図である。It is a perspective view which shows the modification of the striatum support device of FIG. 図１の線条体支持装置の他の変形例を示す分解斜視図である。It is an exploded perspective view which shows the other modification of the striatum support device of FIG. 図８の線条体支持装置の斜視図である。It is a perspective view of the striatum support device of FIG.

本開示の一実施形態に係る線条体支持装置１について、図面を参照して以下に説明する。
本実施形態に係る線条体支持装置１は、図１に示されるように、例えば、４フッ化エチレン等の低摩擦係数の合成樹脂材料からなる平板部材であり、板厚方向に貫通する複数、例えば３つの案内孔２が一列に配列して設けられている。 The striatum support device 1 according to the embodiment of the present disclosure will be described below with reference to the drawings.
As shown in FIG. 1, the striatum support device 1 according to the present embodiment is a flat plate member made of a synthetic resin material having a low friction coefficient such as ethylene tetrafluoride, and a plurality of members penetrating in the plate thickness direction. For example, three guide holes 2 are arranged in a row.

線条体支持装置１は、全ての案内孔２の中心軸を含む平面からなる分割面によって分離可能な２つの支持片３，４を組み合わせて構成されている。各支持片３，４には、案内孔２の列の両側に、分割面に直交する方向に延びる固定孔５，６が設けられている。 The striatum support device 1 is configured by combining two support pieces 3 and 4 that can be separated by a divided surface formed by a plane including the central axes of all the guide holes 2. Each of the support pieces 3 and 4 is provided with fixing holes 5 and 6 extending in a direction orthogonal to the dividing surface on both sides of the row of the guide holes 2.

本実施形態においては、図２および図３に示されるように、一方の支持片３の固定孔５には、雌ネジが形成されている。雌ネジは、例えば、インサートネジである。図４に示されるように、他方の支持片４の固定孔６を貫通して挿入されたボルト７が雌ネジに締結されることにより、２つの支持片３，４を組み合わせた状態に固定することができる。 In the present embodiment, as shown in FIGS. 2 and 3, a female screw is formed in the fixing hole 5 of one of the support pieces 3. The female screw is, for example, an insert screw. As shown in FIG. 4, the bolt 7 inserted through the fixing hole 6 of the other support piece 4 is fastened to the female screw to fix the two support pieces 3 and 4 in a combined state. be able to.

さらに具体的には、２つの支持片３，４は、図４に示されるように、他方の支持片４に固定用の板金８を重ねた状態で、板金８に設けられた貫通孔９および他方の支持片４に設けられた固定孔６を貫通するボルト７を一方の支持片３の固定孔５に形成された雌ネジに締結する。これにより、２つの支持片３，４と板金８とが共締めされ、組み合わせ状態に固定された２つの支持片３，４に固定用の板金８が取り付けられた状態となる。 More specifically, as shown in FIG. 4, the two support pieces 3 and 4 have a through hole 9 and a through hole 9 provided in the sheet metal 8 in a state where the fixing sheet metal 8 is superposed on the other support piece 4. A bolt 7 penetrating the fixing hole 6 provided in the other support piece 4 is fastened to a female screw formed in the fixing hole 5 of the other support piece 3. As a result, the two support pieces 3 and 4 and the sheet metal 8 are fastened together, and the fixing sheet metal 8 is attached to the two support pieces 3 and 4 fixed in the combined state.

一方の支持片３の固定孔５には、図３および図４に示されるように、嵌合凹部１１が設けられ、他方の支持片４の固定孔６には、嵌合凹部１１に嵌合する嵌合凸部１０が設けられている。２つの支持片３，４を組み合わせる際には、嵌合凹部１１に嵌合凸部１０を嵌合させることにより、両者を位置決め状態に組み合わせることができる。
そして、板金８に設けられた他の貫通孔１２に貫通させたボルトをリンク部材（図６参照）１００，２００に設けられたネジ孔に締結することにより、線条体支持装置１をリンク部材１００，２００に固定することができる。 As shown in FIGS. 3 and 4, the fixing hole 5 of one support piece 3 is provided with a fitting recess 11, and the fixing hole 6 of the other support piece 4 is fitted into the fitting recess 11. A fitting convex portion 10 is provided. When combining the two support pieces 3 and 4, both can be combined in the positioning state by fitting the fitting convex portion 10 into the fitting concave portion 11.
Then, the striatum support device 1 is attached to the link member by fastening the bolts that have penetrated through the other through holes 12 provided in the sheet metal 8 to the screw holes provided in the link members (see FIG. 6) 100 and 200. It can be fixed at 100 or 200.

各案内孔２の内面は、図５に示されるように、軸方向の中央において最も内径が小さく、両端に向かって徐々に内径が大きくなる滑らかな曲面により構成されている。
各案内孔２の内径は、通過させる線条体３００の外径よりも若干大きく構成されており、径方向に隙間をあけて線条体３００を貫通させることができる。 As shown in FIG. 5, the inner surface of each guide hole 2 is formed of a smooth curved surface having the smallest inner diameter at the center in the axial direction and gradually increasing the inner diameter toward both ends.
The inner diameter of each guide hole 2 is configured to be slightly larger than the outer diameter of the striatum 300 to be passed through, and the striatum 300 can be penetrated with a gap in the radial direction.

本実施形態に係る線条体支持装置１は、ロボットのいずれかの関節において、回転軸線（軸線）Ａ回りに回転可能に支持された２つのリンク部材１００，２００間に掛け渡して敷設される線条体３００の、リンク部材１００，２００の相対回転に伴って変位する可動部３１０を支持する線条体支持装置１である。線条体３００は、図６に示されるように、回転軸線Ａの位置に各リンク部材１００，２００に設けられた中空部１００Ａ，２００Ａを回転軸線Ａに沿う方向に貫通するとともに、回転軸線Ａから十分に離れた位置において２つのリンク部材１００，２００にそれぞれクランプ等によって固定される。 The striatum support device 1 according to the present embodiment is laid across between two link members 100 and 200 rotatably supported around a rotation axis (axis) A at any joint of the robot. This is a striatum support device 1 that supports a movable portion 310 of the striatum 300 that is displaced with relative rotation of the link members 100 and 200. As shown in FIG. 6, the striatum 300 penetrates the hollow portions 100A and 200A provided in the link members 100 and 200 at the position of the rotation axis A in the direction along the rotation axis A, and the rotation axis A. It is fixed to the two link members 100 and 200 by a clamp or the like at a position sufficiently distant from the above.

そして、線条体３００は、リンク部材１００，２００への固定位置と回転軸線Ａとの間の位置において、本実施形態に係る線条体支持装置１の案内孔２を貫通させられる。
すなわち、２つのリンク部材１００，２００への固定位置の間に配置される線条体３００は、リンク部材１００，２００の回転軸線Ａ回りの相対回転に伴って変位する可動部３１０となる。本実施形態に係る線条体支持装置１は、線条体３００の可動部３１０を支持する装置である。 Then, the striatum 300 is allowed to penetrate the guide hole 2 of the striatum support device 1 according to the present embodiment at a position between the fixed position to the link members 100 and 200 and the rotation axis A.
That is, the striatum 300 arranged between the fixed positions of the two link members 100 and 200 is a movable portion 310 that is displaced as the link members 100 and 200 rotate relative to the rotation axis A. The striatum support device 1 according to the present embodiment is a device that supports the movable portion 310 of the striatum 300.

このように構成された本実施形態に係る線条体支持装置１の作用について以下に説明する。
本実施形態に係る線条体支持装置１によって線条体３００をリンク部材１００，２００に支持させるには、２つの支持片３，４によって構成される各案内孔２に、図５に示されるように、線条体３００を配置してから図３および図４に示されるように、２つの支持片３，４および板金８を組み立てる。すなわち、板金８の貫通孔９および他の支持片４の固定孔６を貫通させたボルト７を一方の支持片３の固定孔５に形成された雌ネジに締結する。 The operation of the striatum support device 1 according to the present embodiment configured in this way will be described below.
In order for the striatum 300 to be supported by the link members 100 and 200 by the striatum support device 1 according to the present embodiment, each guide hole 2 composed of the two support pieces 3 and 4 is shown in FIG. As shown in FIGS. 3 and 4, the two support pieces 3 and 4 and the sheet metal 8 are assembled after the striatum 300 is arranged. That is, the bolt 7 that penetrates the through hole 9 of the sheet metal 8 and the fixing hole 6 of the other support piece 4 is fastened to the female screw formed in the fixing hole 5 of one support piece 3.

これにより、各案内孔２に線条体３００を貫通させた状態で線条体支持装置１が組み立てられるので、図６に示されるように、板金８の他の貫通孔１２に貫通させたボルトをそれぞれ２つのリンク部材１００，２００の図示しないネジ孔に締結する。このとき、線条体３００は案内孔２内に径方向に隙間をあけて貫通させられているので、線条体３００の長手方向に線条体支持装置１を移動させて、支持位置を調節することができる。 As a result, the striatum support device 1 is assembled with the striatum 300 penetrating each guide hole 2, and as shown in FIG. 6, bolts penetrating the other through holes 12 of the sheet metal 8 Are fastened to screw holes (not shown) of the two link members 100 and 200, respectively. At this time, since the striatum 300 is penetrated through the guide hole 2 with a radial gap, the striatum support device 1 is moved in the longitudinal direction of the striatum 300 to adjust the support position. can do.

そして、各線条体支持装置１を挟んでリンク部材１００，２００の回転軸線Ａとは反対側に配置される線条体３００の両端部を、それぞれ、リンク部材１００，２００にクランプによって固定する。これにより、線条体３００の敷設処理が終了する。 Then, both ends of the striatum 300 arranged on the side opposite to the rotation axis A of the link members 100 and 200 with the striatum support devices 1 sandwiched between them are fixed to the link members 100 and 200 by clamps, respectively. As a result, the laying process of the striatum 300 is completed.

本実施形態に係る線条体支持装置１によれば、案内孔２を分割面によって分割する構造の２つの支持片３，４によって線条体支持装置１を構成している。これにより、線条体３００の両端に、例えば、コネクタ等の外形の大きな部材が固定されている場合であっても、線条体３００の長さ方向の途中位置を案内孔２に容易に貫通させることができるという利点がある。 According to the striatum support device 1 according to the present embodiment, the striatum support device 1 is composed of two support pieces 3 and 4 having a structure in which the guide hole 2 is divided by a dividing surface. As a result, even when a member having a large outer shape such as a connector is fixed to both ends of the striatum 300, the guide hole 2 can easily penetrate an intermediate position in the length direction of the striatum 300. There is an advantage that it can be made to.

すなわち、従来のように円筒状のスリーブを用いる場合、コネクタ等の外形の大きな部材を案内孔２内に通過させることができない。したがって、スリーブはコネクタ等を取り付ける前の線条体３００の製造時に予め線条体に組み込んでおく必要がある。このため、線条体３００を交換する際に再利用することができず、線条体３００のコストが高くつく。
これに対して、本実施形態に係る線条体支持装置１によれば、線条体３００を交換しても、線条体支持装置１を再利用し続けることができる。 That is, when a cylindrical sleeve is used as in the conventional case, a member having a large outer shape such as a connector cannot be passed through the guide hole 2. Therefore, it is necessary to incorporate the sleeve into the striatum in advance at the time of manufacturing the striatum 300 before attaching the connector or the like. Therefore, the striatum 300 cannot be reused when it is replaced, and the cost of the striatum 300 is high.
On the other hand, according to the striatum support device 1 according to the present embodiment, the striatum support device 1 can be continuously reused even if the striatum 300 is replaced.

そして、本実施形態に係る線条体支持装置１によって、線条体３００の可動部３１０が長手方向の移動および捻じり方向の移動を許容されつつ回転軸線Ａを挟んだ両側において支持される。これにより、クランプによる固定位置の間隔を長くしても、リンク部材１００，２００の回転に伴って可動部３１０が暴れることを防止することができる。 Then, the movable portion 310 of the striatum 300 is supported on both sides of the rotation axis A while being allowed to move in the longitudinal direction and the movement in the twisting direction by the striatum support device 1 according to the present embodiment. As a result, even if the interval between the fixed positions by the clamps is lengthened, it is possible to prevent the movable portion 310 from going wild with the rotation of the link members 100 and 200.

すなわち、クランプによる固定位置の間隔を長くすることにより、可動部３１０を長くして線条体３００に過大な捻じれが作用することを防止できるとともに、可動部３１０の暴れを防止して、線条体３００が周辺部材と接触して摩耗することを防止することができる。また、４フッ化エチレンのような低摩擦係数の材質により構成することによって、接触による線条体３００の摩耗を最小限に抑えることができる。 That is, by lengthening the interval between the fixed positions by the clamps, the movable portion 310 can be lengthened to prevent excessive twisting from acting on the striatum 300, and the movable portion 310 can be prevented from running wild and the wire can be prevented. It is possible to prevent the striatum 300 from coming into contact with peripheral members and being worn. Further, by using a material having a low coefficient of friction such as ethylene tetrafluoride, wear of the striatum 300 due to contact can be minimized.

また、本実施形態に係る線条体支持装置１によれば、線条体３００を貫通させる案内孔２の内面が、軸方向の中央において最も狭く、両端の開口部に近づくに従って広くなる滑らかな曲面形状を有している。これにより、比較的真っ直ぐな線条体３００と案内孔２の内面との接触面積を低減することができる。これによっても線条体３００の摩耗を低減することができる。さらに、支持片３，４を４フッ化エチレンのような低摩擦係数の材質により構成することによって、接触による線条体３００の摩耗を最小限に抑えることができる。 Further, according to the striatum support device 1 according to the present embodiment, the inner surface of the guide hole 2 through which the striatum 300 penetrates is the narrowest in the center in the axial direction, and becomes wider as it approaches the openings at both ends. It has a curved surface shape. As a result, the contact area between the relatively straight striatum 300 and the inner surface of the guide hole 2 can be reduced. This also makes it possible to reduce the wear of the striatum 300. Further, by forming the support pieces 3 and 4 with a material having a low friction coefficient such as ethylene tetrafluoride, wear of the striatum 300 due to contact can be minimized.

また、本実施形態に係る線条体支持装置１によれば、２つの支持片３，４を組み立てる際に、一方の支持片３に設けられた嵌合凹部１１に他方の支持片４に設けられた嵌合凸部１０を嵌合させる。これにより、２つの支持片３，４を相互に位置決め状態に組みたてることができて、案内孔２の位置ずれを防止し、案内孔２内面に段差が発生することを防止して、線条体３００が損傷することを防止することができる。 Further, according to the striatum support device 1 according to the present embodiment, when the two support pieces 3 and 4 are assembled, the fitting recess 11 provided in the one support piece 3 is provided in the other support piece 4. The fitted convex portion 10 is fitted. As a result, the two support pieces 3 and 4 can be assembled in a mutually positioned state, the misalignment of the guide hole 2 is prevented, the step is prevented from being generated on the inner surface of the guide hole 2, and the wire is It is possible to prevent the striatum 300 from being damaged.

なお、本実施形態においては、案内孔２を３個備える線条体支持装置１を例示したが、これに代えて、１個以上の任意の数の案内孔２を備えていてもよい。また、案内孔２の内面を軸方向の中央において最も狭く、両端に近づくに従って広くなる滑らかな曲面形状により構成したが、軸方向の全長にわたって均一な横断面積の案内孔２を採用してもよい。 In the present embodiment, the striatum support device 1 having three guide holes 2 has been illustrated, but instead of this, an arbitrary number of guide holes 2 may be provided. Further, although the inner surface of the guide hole 2 is formed to have a smooth curved surface shape that is the narrowest in the center in the axial direction and widens as it approaches both ends, the guide hole 2 having a uniform cross-sectional area over the entire length in the axial direction may be adopted. ..

また、本実施形態においては、全ての案内孔２を分割面によって分割する場合を例示したが、これに代えて、図７に示されるように、一部の案内孔２は分割されなくてもよい。例えば、エアチューブ等の端部まで一定の外径寸法を有する線条体であれば、分割しなくても貫通させることができる。 Further, in the present embodiment, the case where all the guide holes 2 are divided by the dividing surface is illustrated, but instead, as shown in FIG. 7, even if some of the guide holes 2 are not divided. Good. For example, a striatum having a constant outer diameter to the end of an air tube or the like can be penetrated without being divided.

また、２つの支持片３，４とともに共締めした板金８を用いてリンク部材１００，２００に固定することとしたが、これに限定されるものではなく、両方の支持片３，４の固定孔５，６に雌ネジを設けず、組み合わせて支持片３，４をボルトによって、リンク部材１００，２００に直接共締めしてもよい。 Further, it was decided to fix the link members 100 and 200 by using the sheet metal 8 fastened together with the two support pieces 3 and 4, but the present invention is not limited to this, and the fixing holes of both the support pieces 3 and 4 are not limited to this. The support pieces 3 and 4 may be directly fastened to the link members 100 and 200 with bolts in combination without providing female screws on the 5 and 6.

また、図８に示されるように、図２の２つの支持片３，４の間に、１つ以上の第３の支持片（支持片）２１を配置することにより、図９に示されるように、複数列の分割可能な案内孔２を有する線条体支持装置２０を構成してもよい。
また、２つの支持片を位置決めするための嵌合凹部１１および嵌合凸部１０はなくてもよく、他の位置決め機構を採用してもよい。 Further, as shown in FIG. 8, by arranging one or more third support pieces (support pieces) 21 between the two support pieces 3 and 4 in FIG. 2, as shown in FIG. In addition, a striatum support device 20 having a plurality of rows of separable guide holes 2 may be configured.
Further, the fitting recess 11 and the fitting protrusion 10 for positioning the two support pieces may not be provided, and another positioning mechanism may be adopted.

１，２０ 線条体支持装置
２ 案内孔
３，４ 支持片
２１ 第３の支持片（支持片）
１００，２００ リンク部材
３００ 線条体
３１０ 可動部
Ａ 回転軸線（軸線） 1,20 Striatum support device 2 Guide hole 3,4 Support piece 21 Third support piece (support piece)
100, 200 Link member 300 Striatum 310 Moving part A Rotating axis (axis)

Claims (5)

所定の軸線回りに回転可能に支持された２つのリンク部材間に掛け渡して敷設される線条体の、前記リンク部材の相対回転に伴って変位する可動部を支持する線条体支持装置であって、
前記線条体の前記可動部の長手方向の途中位置を貫通させ、前記線条体の外径よりも若干大きい内径を有する１以上の案内孔を備えるとともに、
該案内孔の位置で径方向に分離可能に結合される２以上の支持片を備え、
前記線条体の前記リンク部材への固定位置と、前記軸線との間において、前記リンク部材に固定される線条体支持装置。 A striatum support device that supports a movable part of a striatum that is laid across two link members that are rotatably supported around a predetermined axis and that displaces with the relative rotation of the link member. There,
It is provided with one or more guide holes having an inner diameter slightly larger than the outer diameter of the striatum by penetrating the intermediate position of the movable portion of the striatum in the longitudinal direction.
It comprises two or more support pieces that are radially separably coupled at the position of the guide hole.
A striatum support device fixed to the link member between the fixed position of the striatum to the link member and the axis. 前記案内孔は、内径が、前記案内孔の軸方向の途中位置において最も小さく、前記軸方向両端に向かって次第に増大する滑らかな内面形状を有する請求項１に記載の線条体支持装置。 The striatal support device according to claim 1, wherein the guide hole has an inner diameter that is the smallest in the middle position in the axial direction of the guide hole and has a smooth inner surface shape that gradually increases toward both ends in the axial direction. 前記案内孔が１列に並んで複数備えられ、
２以上の前記支持片が、全ての前記案内孔の軸を含む平面に沿って分離可能である請求項１または請求項２に記載の線条体支持装置。 A plurality of the guide holes are provided in a row.
The striatal support device according to claim 1 or 2, wherein the two or more support pieces are separable along a plane including the axes of all the guide holes. 前記案内孔が複数列に並んで複数備えられ、
２以上の前記支持片が、各前記列の全ての前記案内孔の軸を含む複数の平面に沿って前記列毎に分離可能である請求項１または請求項２に記載の線条体支持装置。 A plurality of the guide holes are provided side by side in a plurality of rows.
The striatal support device according to claim 1 or 2, wherein the two or more support pieces can be separated for each row along a plurality of planes including the axes of all the guide holes in each row. .. 前記支持片が、４フッ化エチレン製である請求項１から請求項４のいずれかに記載の線条体支持装置。 The striatal support device according to any one of claims 1 to 4, wherein the support piece is made of ethylene tetrafluoride.
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